CN113263876A

CN113263876A - Amphibious exploration robot

Info

Publication number: CN113263876A
Application number: CN202110542471.5A
Authority: CN
Inventors: 宿正国
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-05-18
Filing date: 2021-05-18
Publication date: 2021-08-17

Abstract

A sea-land amphibious exploration robot belongs to the technical field of underwater navigation equipment. The device consists of a shell, a supporting plate, an image acquisition device, flexible wings, a steering engine, a circuit board and a driving mechanism. The flexible wings have two modes and are suitable for two environments of water and land, the flexible wings can be horizontally unfolded underwater to be used as a power device like fins, the flexible wings can be vertically erected on land to be used as a walking device, steering can be realized by controlling the rotating speed of a steering engine, and ascending and descending are realized by controlling the horizontal unfolding and the vertical unfolding of the flexible wings; the single chip microcomputer carried on the circuit board receives the signal and sends a command to drive the steering engine, and the working states of adjacent steering engines are just opposite; the image acquisition device works when the transparency is good, the CCD camera works when the transparency is poor, the infrared camera works when the transparency is poor, and the ultrasonic sensor works when the temperature is low, so that the picture is transmitted to the display; the environment monitoring system can replace people to enter an environment which people cannot enter, detect the environment and execute a difficult task, and can continuously work.

Description

Amphibious exploration robot

Technical Field

The invention relates to a sea-land amphibious exploration robot, in particular to a robot adopting bionic mink fish, and a device for ocean and land exploration, which is provided with a solar cell panel, a CCD camera, an infrared camera and an ultrasonic sensor, and belongs to the technical field of underwater navigation equipment.

Background

Due to the increasing range of living and activities of human beings on the earth, the rapid growth of population, the increasing shortage of resources and other problems, people have invested more and more financial and material resources in the protection of marine environment. In terms of the current development, most of research and activities of people still stay in environments such as shallow sea, rivers, lakes, marshes and the like. In addition, with the continuous progress of science and technology, the use of the amphibious robot between sea and land is more widely entered into the daily life of people. In view of the prospect of research and development of marine environments, people do not have the same way as they do on the ground to move freely due to the variety of marine environments.

Nowadays, most robots can only move in a single environment, for example, land mobile robots cannot perform underwater exploration activities because of no underwater propulsion mechanism or no waterproof function, and underwater robots mostly have no or insufficient land movement capability, cannot walk on the land, and have great limitations. Most underwater robots or submersibles in the prior art have large volume and relatively high cost, mostly utilize propellers to provide underwater power, consume more energy and cannot work for a long time; and most of the devices need external power supply, towropes launch into water, and exploration areas are limited.

Disclosure of Invention

Aiming at the defects, the invention provides the bionic amphibious exploration robot which can replace people to enter the environment which people cannot enter, detect the environment and execute the difficult task and can continuously work.

The invention is realized by the following technical scheme: a sea-land amphibious exploration robot is composed of a shell, a supporting plate, an image acquisition device, flexible wings, a steering engine, a circuit board and a driving mechanism, wherein the shell is made of a corrosion-resistant, wear-resistant and low-water-resistance polypropylene material.

The backup pad structurally divide into top motion actuating mechanism backup pad, below circuit board backup pad again, its characterized in that: the upper movement executing mechanism executing plate is provided with mounting holes which are uniformly distributed at intervals, the upper supporting plate and the lower supporting plate of the steering engine are firmly connected through connecting pieces a, b and c, and the lower circuit supporting plate is mainly provided with devices such as a circuit board and the like.

The image acquisition device is provided with a CCD camera, an infrared camera and an ultrasonic sensor. The CCD camera is located in the middle of the device, and the infrared cameras and the ultrasonic sensors are uniformly distributed around the CCD camera.

The flexible wings are provided with uniformly distributed mounting ports which are connected with a driving mechanism.

The circuit board has structures such as steering engine drive device, pilot lamp, interface, singlechip, plug, button, USB joint.

The driving mechanism comprises connecting pieces d and e, a steering engine and the like, wherein the connecting piece d is connected with the steering engine and the connecting piece e, so that each connecting part can swing up and down.

The solar cell panel is arranged on the shell, so that real-time charging can be realized under appropriate conditions.

The intelligent environment detection system has the beneficial effects that the intelligent environment detection system can replace the situation that people cannot enter the environment, detect the environment and execute a difficult task, and can continuously work; the flexible wings have two working modes and can be suitable for two environments of water and land, the flexible wings can be used as a power device like fins when horizontally unfolded, can be vertically erected as a walking device when on land, can be used for realizing steering by controlling the rotating speed difference of a steering engine, and can be used for realizing ascending and descending by controlling the horizontal unfolding and the vertical unfolding of the flexible wings; the casing of the invention adopts a streamline shape, and the material adopts polypropylene, so that the water resistance can be reduced, and the casing is corrosion-resistant and wear-resistant; the image acquisition device works under the condition of good transparency, the infrared camera works when the transparency is poor, the ultrasonic sensor works when the temperature is low, and the shot picture is transmitted to the display; the single chip microcomputer carried on the circuit board receives signals and sends instructions to drive the steering engine to control the starting of two adjacent motors, so that one connecting piece can swing upwards while the other connecting piece just swings downwards, and the forward and backward movement, left turning and right turning of the robot are realized; the driving mechanism is driven by the steering engine to control the up-and-down swing of the connecting piece accurately.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic view of the structure of the housing of the present invention.

Fig. 3 is a schematic view of the overall internal structure of the present invention.

Fig. 4 is an enlarged view of the whole structure of the present invention.

Fig. 5 is a schematic view of an image capturing device according to the present invention.

FIG. 6 is a schematic view of a flexible wing of the present invention.

Fig. 7 is a schematic view of an upper support plate according to the present invention.

FIG. 8 is a schematic view of a lower support plate of the present invention

Fig. 9 is a schematic view of the driving mechanism of the present invention.

FIG. 10 is a schematic view of a circuit board according to the present invention.

FIG. 11 is a schematic view of an actuator according to the present invention.

Fig. 12 is a schematic view of a connector b of the present invention.

Fig. 13 is a schematic view of a connector c of the present invention.

FIG. 14 is a schematic view of a steering engine of the present invention.

Fig. 15 is a schematic view of a connector a of the present invention.

FIG. 16 is a schematic view of a steering engine drive of the present invention.

Fig. 17 is a schematic view of a connector d of the present invention.

Fig. 18 is a schematic view of a fixing plate according to the present invention.

In the figure, 1, a housing.

2. The device comprises an image acquisition device 201, an infrared camera, 202 an ultrasonic sensor, a CCD camera and a fixed rod 204.

3. Flexible wings 301 connect the interfaces.

4. Go up the backup pad, 401, bottom suspension fagging fixed orifices, 402, steering wheel reserve mouth, 403, steering wheel fixed orifices.

5. Lower supporting plate, 501, last backup pad connector, 502, circuit board fixed orifices.

6. Drive structure 601, steering wheel a,602, connecting piece a, 603, connecting piece b, 604, steering wheel b.

7. The device comprises a circuit board 701, a motor driving device 702, a USB interface 703, a start button 704, a socket 705, a plug 706, a fixing hole 707, a singlechip 708 and an indicator light.

8. The device comprises an actuating mechanism 801, connecting pieces c and 802, connecting pieces d and 803, steering engines c and 804 and a fixing plate.

Detailed Description

A sea-land amphibious exploration robot is composed of a shell 1, an image acquisition device 2, a flexible wing 3, an upper supporting plate 4, a lower supporting plate 5, a driving structure 6, a circuit board 7 and an execution mechanism 8, wherein the image acquisition device 2 is arranged on the shell 1.

The image acquisition device 2 is composed of a 201 infrared camera, a 202 ultrasonic sensor, a CCD camera and a fixed rod 204, wherein the ultrasonic sensor and the infrared camera are distributed around the CCD camera, and the fixed rod is fixed on the shell 1 through screws.

The flexible wing 3 is fixedly connected to the connecting piece 802 through the interface 301.

The driving mechanism 6 is composed of an a steering engine 601, an a connecting piece 602, a b connecting piece 603, a b steering engine 604 and a d connecting piece 804, the steering engine a is nested in the a connecting piece, the b connecting piece is embedded in the a connecting piece, and the steering engine b is fixed on the upper supporting plate 4 and the lower supporting plate 5 through a threaded hole 403.

The circuit board 7 is composed of 701, a motor driving device, 702, a USB interface, 703, a start button, 704, a socket, 705, a plug, 706, a fixing hole, 707, a singlechip, 708 and an indicator light, and is fixed on the lower supporting plate 5 through a screw hole 707, which is a control part of the whole device.

The actuating mechanism 8 comprises 801, connecting pieces c and 802, connecting pieces d and 803, a steering engine c and 804 and a fixing plate, wherein the connecting piece d is fixed on the steering engine c, the steering engine c is connected with the fixing plate through a threaded hole and is connected to the steering engine a through a threaded hole, and the actuating mechanism is driven by the steering engine to swing.

The housing 1 is mounted on the integral inner structure 2, so that the whole device has small water resistance.

It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.

Claims

1. A sea-land amphibious exploration robot is composed of a shell, an image acquisition device, flexible wings, an upper supporting plate, a lower supporting plate, a driving structure, a circuit board and an execution mechanism.

2. The external shell of the amphibious exploration robot as claimed in claim 1, wherein the image acquisition device is arranged on the external shell.

3. The image collecting apparatus of claim 1, wherein the image collecting apparatus comprises an infrared camera, an ultrasonic sensor, a CCD camera, and a fixing rod, the ultrasonic sensor and the infrared camera are distributed around the CCD camera, and the fixing rod is fixed on the housing by screws.

4. The flexible wing of the amphibious exploration robot as claimed in claim 1, wherein the flexible wing is fixedly connected to the connecting piece through an interface.

5. The driving mechanism of an amphibious exploration robot as claimed in claim 1, which comprises a steering engine and a connecting piece, wherein the steering engine is nested in the connecting piece, and the steering engine is fixed on the upper supporting plate and the lower supporting plate through threaded holes.

6. The sea-land amphibious exploration robot actuator as claimed in claim 1, which comprises a connecting piece, a steering engine and a fixing plate, wherein the connecting piece is fixed on the steering engine, the steering engine and the fixing plate are connected with the connecting piece through a threaded hole and connected to the steering engine through a threaded hole, and the actuator can be driven by the steering engine to swing.

7. A sea-land amphibious exploration robot housing, according to claim 1, mounted on a unitary internal structure.